Vector is base class of other vector like classes. It represents a series of vectors.
from py3d import Vector
Vector()
Vector([], dtype=float64)
Vector([0, 0, 0, 0])
Vector([0, 0, 0, 0])
Vector([1, 2, -4])
Vector([ 1, 2, -4])
Vector([1, 2, 3], (2,))
Vector([[1, 2, 3],
[1, 2, 3]])
import py3d
py3d.Vector([1, 2, 0, 3], ())
Vector([1, 2, 0, 3])
Vector([1], (2,))
Vector([[1],
[1]])
Get unit vector
import py3d
V32 = py3d.Vector([
[1, 3],
[2, -9],
[0.1, -3]])
V32
V32.U
Vector([[ 0.31622777, 0.9486833 ],
[ 0.21693046, -0.97618706],
[ 0.03331483, -0.99944491]])
Get length of vectors
V32.L
array([[3.16227766],
[9.21954446],
[3.0016662 ]])
from numpy import allclose
assert allclose(V32.U.L, [[1], [1], [1]])
Get homogeneous vector
V32.H
Vector3([[ 1. , 3. , 1. ],
[ 2. , -9. , 1. ],
[ 0.1, -3. , 1. ]])
Get a series of random vectors
import py3d
py3d.Vector.Rand(2,3,4)
Vector([[[0.43578129, 0.34575936, 0.70693258, 0.77517889],
[0.90612068, 0.49931281, 0.28356419, 0.4466531 ],
[0.7402473 , 0.91662313, 0.50333922, 0.61690147]],
[[0.84025601, 0.98419091, 0.50377457, 0.013184 ],
[0.58059916, 0.79023643, 0.98708413, 0.97517111],
[0.80113453, 0.28171909, 0.91251944, 0.5252285 ]]])
import py3d
py3d.Vector([[0,0],[1,2],[3,4]]).diff()
Vector([[1, 2],
[2, 2]])
Read pcd file
import py3d
py3d.read_pcd("ascii.pcd").xyz.as_point()
import py3d
pcd = py3d.read_pcd("binary.pcd")
pcd.xyz.as_point().paint(py3d.Color.map(pcd.intensity, 0, 255))